fcl » include » fcl » broadphase
broadphase.h

00001 /*
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00034 
00039 #ifndef FCL_BROAD_PHASE_H
00040 #define FCL_BROAD_PHASE_H
00041 
00042 #include "fcl/collision_object.h"
00043 #include <set>
00044 #include <vector>
00045 
00046 namespace fcl
00047 {
00048 
00049 
00051 typedef bool (*CollisionCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata);
00052 
00054 typedef bool (*DistanceCallBack)(CollisionObject* o1, CollisionObject* o2, void* cdata, FCL_REAL& dist);
00055 
00056 
00058 class BroadPhaseCollisionManager
00059 {
00060 public:
00061   BroadPhaseCollisionManager() : enable_tested_set_(false)
00062   {
00063   }
00064 
00065   virtual ~BroadPhaseCollisionManager() {}
00066 
00068   virtual void registerObjects(const std::vector<CollisionObject*>& other_objs)
00069   {
00070     for(size_t i = 0; i < other_objs.size(); ++i)
00071       registerObject(other_objs[i]);
00072   }
00073 
00075   virtual void registerObject(CollisionObject* obj) = 0;
00076 
00078   virtual void unregisterObject(CollisionObject* obj) = 0;
00079 
00081   virtual void setup() = 0;
00082 
00084   virtual void update() = 0;
00085 
00087   virtual void update(CollisionObject* updated_obj)
00088   {
00089     update();
00090   }
00091 
00093   virtual void update(const std::vector<CollisionObject*>& updated_objs)
00094   {
00095     update();
00096   }
00097 
00099   virtual void clear() = 0;
00100 
00102   virtual void getObjects(std::vector<CollisionObject*>& objs) const = 0;
00103 
00105   virtual void collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const = 0;
00106 
00108   virtual void distance(CollisionObject* obj, void* cdata, DistanceCallBack callback) const = 0;
00109 
00111   virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
00112 
00114   virtual void distance(void* cdata, DistanceCallBack callback) const = 0;
00115 
00117   virtual void collide(BroadPhaseCollisionManager* other_manager, void* cdata, CollisionCallBack callback) const = 0;
00118 
00120   virtual void distance(BroadPhaseCollisionManager* other_manager, void* cdata, DistanceCallBack callback) const = 0;
00121 
00123   virtual bool empty() const = 0;
00124   
00126   virtual size_t size() const = 0;
00127 
00128 protected:
00129 
00131   mutable std::set<std::pair<CollisionObject*, CollisionObject*> > tested_set;
00132   mutable bool enable_tested_set_;
00133 
00134   bool inTestedSet(CollisionObject* a, CollisionObject* b) const
00135   {
00136     if(a < b) return tested_set.find(std::make_pair(a, b)) != tested_set.end();
00137     else return tested_set.find(std::make_pair(b, a)) != tested_set.end();
00138   }
00139 
00140   void insertTestedSet(CollisionObject* a, CollisionObject* b) const
00141   {
00142     if(a < b) tested_set.insert(std::make_pair(a, b));
00143     else tested_set.insert(std::make_pair(b, a));
00144   }
00145 
00146 };
00147 
00148 
00149 }
00150 
00151 
00152 #include "fcl/broadphase/broadphase_bruteforce.h"
00153 #include "fcl/broadphase/broadphase_spatialhash.h"
00154 #include "fcl/broadphase/broadphase_SaP.h"
00155 #include "fcl/broadphase/broadphase_SSaP.h"
00156 #include "fcl/broadphase/broadphase_interval_tree.h"
00157 #include "fcl/broadphase/broadphase_dynamic_AABB_tree.h"
00158 #include "fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
00159 
00160 #endif